Are you on iRV2? Look up the "Cheap Handling Fix". I started reading the 315 pages 2 days ago and am up to page 155 or so...
I did that to my Vista's front swaybar and will do the rear this weekend. It was a 30 minute job with a floor jack, 15mm and an 18mm spanner plus my torque wrench (remember 66 ft/lbs). If you have air tools it could go quicker. Also check the rear swaybar bushings and see if they are melted away or if you have newer poly bushings. Mine are basically nonexistent so I've got some one order now and will do the CHF on the rear when I get them.